Underwater Robotics

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Controller area network (CAN) is a prioritybased
bus that supports real-time communication. Existing
schedulability analysis for the CAN bus is peformed at the
design stage, by assuming that all message information ...

The wide applications of cyber-physical systems (CPS)
call for effective design strategies that optimize the performance
of both computing units and physical plants. We
study the task scheduling problem for a class of ...

Inspired by behaviors of fish groups seeking darker (shaded) regions in environments with complex lighting variations, we develop distributed source-seeking algorithms for a group of
sensing agents with no explicit gradient ...

We develop a plume tracking algorithm for a
swarm of mobile sensing agents in turbulent flow. Inspired
by blue crabs, we propose a stochastic model for plume
spikes based on the Poisson counting process, which captures
the ...

In this paper we model the controlled Lagrangian
particle tracking (CLPT) error for marine vehicles moving in an
ocean flow field, with guidance from ocean models. We linearize
the error about the nominal modeled ...

This paper develops a robust controller for autonomous
underwater vehicles with bounded time delays, so
that the AUVs form and keep a desired formation shape and
track a desired trajectory. We use a six-degree-of-free ...

We analyze the robustness of a class of controllers
that enable three-dimensional curve tracking of free moving
particles. By building a strict Lyapunov function and robustly
forwardly invariant sets, we show input-to-state ...

We analyze the effects of communication delays in teleoperation systems using dissipativity
theory along with explicit models of the operator and robot. We utilize a simple model of the
operator's behavior that describes ...

This paper establishes the method of controlled Lagrangian particle tracking (CLPT) to analyse the
offsets between physical positions of marine robots in the ocean and simulated positions of controlled
particles in an ...

We analyze an important class of feedback controllers
for curve tracking problems for robotics. Earlier
experimental work suggested the robust performance of the
control laws under perturbations. In this note, we use ...

Imperfect CO₂ removal mechanisms of CO₂ scrubbers
often lead to the existence of CO₂ in gas inhaled by a
diver from underwater rebreathers. This may cause CO₂ related
rebreather faults and subsequently would increase ...

Intruder capturing games on a topological map of a workspace with obstacles are investigated. Assuming that a searcher can access the position of any intruder utilizing information networks, we provide theoretical upper ...

This paper presents a novel robust controller design for formation control of autonomous underwater vehicles (AUVs). We consider a nonlinear three-degree-of-freedom dynamic model for the horizontal motion of each AUV. By ...

A full-scale adaptive ocean sampling network was deployed throughout the month-long 2006 Adaptive Sampling and Prediction (ASAP) field experiment in Monterey Bay, California. One of the central goals of the field experiment ...

This paper presents a novel approach based on
Jacobi shape theory and geometric reduction for formation
control of autonomous underwater vehicles (AUVs). We consider
a three degree-of-freedom (DOF) dynamic model for ...

We develop strategies for controlled motion and
filtering performed by a mobile sensor network to cooperatively
explore an unknown 3D scalar field. In order to estimate the
principal directions and principal curvatures ...

This paper develops a switching strategy for networked
mobile sensing agents to automatically decide when
to perform individual exploration and when to perform cooperative
exploration of an unknown scalar field corrupted
by ...